Whole TPMS unit needs to be replaced. I'd go to Costco if you have membership, they seem to do it for cheap.
Or just wait till when you need to replace tires anyway, nothing wrong with checking tire pressure manually.
This is a dealer only service item, as tires need to be removed and re-installed and balanced and computer needs to be programmed with new sensors.

Hi,
Im not sure where you are located.
In USA, your car would have it in 2013, in Canada it most likely had it in 2013, other locations I'm not sure.

Light comes on when your tire pressure is low, also when it looses communication with sensors and they need to be replaced.
Costco is a tire dealer, I mean dealer as in a repair shop, not a home service item, unless you have TPMS scanner.
A good tire shop will have a TPMS scanner and should be able to diagnose if the sensors inside tires need replacement.

TPMS sender is located inside the tire, the tire needs to be removed to gain access for the replacement, receiver is in the car and exact location of it im not sure.